Integrated measurement method for friction parameters and moment of inertia of servo turntable lugre model

Abstract

The invention discloses an integrated method for measuring the friction parameter and rotary inertia of a LuGre model of a servo turntable, which comprises the following steps of: acquiring equivalent capacitance C, inductance L, input resistance R, a motor back electromotive force coefficient Kb and a moment coefficient Cm of the input end of a turntable driving motor; controlling the turntable to do constant-speed rotation, measuring change curves of an angular speed and current, and resolving a Coulomb moment MC and a viscous friction coefficient sigma 2 of the turntable; measuring an angular speed change curve omega 0(t) in the free retardation process under the conditions of input pull down of the turntable driving motor and only friction action; constructing a free retardation fitted curve omega ([omega s, M s, sigma 0, sigma 1, J], t) by taking a kinetic parameter of the LuGre model and the rotary inertia of the turntable as input variables and time t as an independent variable; and setting an evaluation standard, and making the omega ([omega s, M s, sigma 0, sigma 1, J], t) approach omega 0(t) by using an optimization algorithm so as to identify input parameters of the fitted curve. A moment sensor is not needed to be arranged and the integrity of the turntable is not damaged; in the measuring process, information such as driving current, the angular speed of the turntable and the like is only needed, and the method is convenient to implement; moreover, complicated dynamic and static characteristics in the friction process can be accurately described, and the turntable is convenient to control at high precision.

Description

technical field [0001] The invention belongs to the field of measurement control, and relates to a non-electrical measurement method in a control regulation system, specifically a measurement method for friction and moment of inertia in a motor drag control system. technical background [0002] In the turntable servo system, the friction parameters and moment of inertia are more important technical indicators in the process of system design and debugging. Especially in the low-speed stage, the friction presents a relatively serious nonlinearity, which has a great influence on the tracking performance of the system. The accuracy of the friction model is an important guarantee for the low-speed tracking performance of the servo turntable. In recent years, with the in-depth study of friction, many new friction models have appeared. LuGre is a relatively complete and easy-to-implement friction model, which can accurately interpret most of the characteristics of friction by int...

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Problems solved by technology

However, this method mainly uses the middle stage of the deceleration curve, and it does not and cannot analyze the nonlinear characteristics of friction in the low-speed stage, so it cannot solve the dynamic parameters of friction, and the part where friction has the greatest impact on the servo accuracy of the angular velocity of the turntable is in the low-speed stage. stage

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